Rotating switch sensor for a robotic system

Abstract

A sensor system includes a first member that extends along a rotational axis and has a surface disposed circumferentially about the rotational axis. A conductive element is disposed on the surface of the first member and disposed about the rotational axis. A second member extends along the rotational axis. A rotational position between the first member and the second member is adjustable. A target is mounted to and rotatable with the second member and is movable relative to the second member between first and second positions. The target is spaced apart from the conductive element in both the first and second positions and is spaced further from the conductive element in the second position compared to the first position. The conductive element detects a change in movement of the target from the first position to the second position for any rotational position between the first member and the second member.

What is claimed is: 
     
       1. A sensor system comprising:
 a first member extending along a rotational axis and having a surface disposed circumferentially about the rotational axis; 
 a conductive element disposed on the surface of the first member and disposed about the rotational axis; 
 a second member extending along the rotational axis and with a rotational position between the first member and the second member being adjustable; and 
 a target mounted to and rotatable with the second member and being movable relative to the second member between a first position and a second position, the target being spaced apart from the conductive element in both the first and second positions and being spaced further from the conductive element in the second position compared to the first position; and 
 wherein the conductive element is configured to detect a change in movement of the target from the first position to the second position for any rotational position between the first member and the second member. 
 
     
     
       2. The sensor system of  claim 1 , wherein the conductive element is configured to sense the target in the first position for any rotational position between the first member and the second member. 
     
     
       3. The sensor system of  claim 2 , wherein the conductive element detects the change in movement of the target from the first position to the second position for any rotational position between the first member and the second member by being configured to either:
 sense the target in the second position; or 
 not sense the target in the second position. 
 
     
     
       4. The sensor system of  claim 1 , wherein the rotational position between the first member and the second member is freely rotatable throughout 360 degrees of rotation about the rotational axis, and wherein the target is spaced apart from the conductive element in the first and second positions throughout the 360 degrees of rotation. 
     
     
       5. The sensor system of  claim 1 , wherein the conductive element comprises a conductive coil configured to produce an electromagnetic field, and the target comprises a metallic material configured to alter the electromagnetic field and wherein the conductive element is configured to inductively detect the change in movement of the target from the first position to the second position. 
     
     
       6. The sensor system of  claim 5 , wherein the conductive coil is wound in a spiral configuration that varies in density along the rotational axis to produce a variable electromagnetic field along the rotational axis, and further comprising a plurality of targets each being spaced at a different position from one another relative to the spiral configuration, wherein the conductive element is configured to utilize the variable electromagnetic field to individually detect the change in movement of any of the targets from the first position to the second position for any rotational position between the first member and the second member. 
     
     
       7. The sensor system of  claim 1 , wherein the conductive element comprises a capacitive plate and the target comprises an opposing capacitive plate and wherein the conductive element is configured to capacitively detect the change in movement of the target from the first position to the second position. 
     
     
       8. The sensor system of  claim 1 , wherein the conductive element is disposed on or in a substrate that is configured to flex circumferentially about the surface. 
     
     
       9. The sensor system of  claim 1 , further including a biasing member engaging each of the second member and the target and being configured to bias the target towards the first position, and wherein the target is configured to move to the second position against the bias of the biasing member. 
     
     
       10. The sensor system of  claim 1 , wherein the target in the first position is spaced apart from the conductive element by a first distance that is constant for any rotational position between the first member and the second member, and wherein the target in the second position is spaced apart from the conductive element by a second distance that is constant for any rotational position between the first member and the second member, and wherein the second distance is greater than the first distance. 
     
     
       11. The sensor system of  claim 1 , wherein the target comprises a detection surface facing the surface of the first member and the target is configured to move linearly along a target axis between the first and second positions, the target axis being orthogonal to the rotational axis. 
     
     
       12. The sensor system of  claim 1 , wherein the second member is configured to rotate around the first member about the rotational axis. 
     
     
       13. The sensor system of  claim 1 , wherein the first member is configured to rotate around the second member about the rotational axis. 
     
     
       14. An end effector for a robotic manipulator, the end effector comprising:
 a first member extending along a rotational axis and having a surface disposed circumferentially about the rotational axis; 
 an energy applicator configured to be disposed within the first member; 
 a conductive element disposed on the surface of the first member and disposed about the rotational axis; 
 a handle extending along the rotational axis and with a rotational position between the first member and the handle being adjustable; and 
 a target mounted to and rotatable with the handle and being movable relative to the handle between a first position and a second position, the target being spaced apart from the conductive element in both the first and second positions and being spaced further from the conductive element in the second position compared to the first position; and 
 wherein the conductive element is configured to detect a change in movement of the target from the first position to the second position for any rotational position between the first member and the handle. 
 
     
     
       15. The end effector of  claim 14 , wherein the conductive element is configured to sense the target in the first position for any rotational position between the first member and the handle. 
     
     
       16. The end effector of  claim 15 , wherein the conductive element detects the change in movement of the target from the first position to the second position for any rotational position between the first member and the handle by being configured to either:
 sense the target in the second position; or 
 not sense the target in the second position. 
 
     
     
       17. The end effector of  claim 14 , comprising a mounting fixture for coupling the end effector to the robotic manipulator, and wherein the first member includes a nose tube having a proximal end adjacent to the mounting fixture and an opposing distal end, and wherein the energy applicator is configured to extend beyond the distal end. 
     
     
       18. The end effector of  claim 14 , further comprising a tactile interface coupled to the handle and wherein the target is movable relative to the handle between the first position and the second position responsive to actuation of the tactile interface. 
     
     
       19. The end effector of  claim 14 , wherein the conductive element comprises a conductive coil configured to produce an electromagnetic field, and the target comprises a metallic material configured to alter the electromagnetic field and wherein the conductive element is configured to inductively detect the change in movement of the target from the first position to the second position. 
     
     
       20. The end effector of  claim 14 , wherein the conductive element comprises a capacitive plate and the target comprises an opposing capacitive plate and wherein the conductive element is configured to capacitively detect the change in movement of the target from the first position to the second position. 
     
     
       21. A robotic system comprising:
 a manipulator comprising a plurality of links; and 
 an end effector coupled to the manipulator and comprising:
 a first member extending along a rotational axis and having a surface disposed circumferentially about the rotational axis; 
 an energy applicator configured to be disposed within the first member; 
 a conductive element disposed on the surface of the first member and disposed about the rotational axis; 
 a handle extending along the rotational axis and with a rotational position between the first member and the handle being adjustable; and 
 a target mounted to and rotatable with the handle and being movable relative to the handle between a first position and a second position, the target being spaced apart from the conductive element in both the first and second positions and being spaced further from the conductive element in the second position compared to the first position; and 
 wherein the conductive element is configured to detect a change in movement of the target from the first position to the second position for any rotational position between the first member and the handle. 
 
 
     
     
       22. The robotic system of  claim 21 , further comprising one or more controllers coupled to the conductive element and being configured to enable a command for controlling one or both of the manipulator and the end effector responsive to the one or more controllers identifying the target in the second position. 
     
     
       23. The robotic system of  claim 22 , wherein the one or more controllers enable the command to perform one or more of the following:
 enable or disable the energy applicator; 
 modify a cutting speed of the energy applicator; 
 control the manipulator to modify a feed rate of the end effector; and 
 control the manipulator to alter an orientation of the end effector.